| 机器人远中心柔顺手腕的参数优化 |
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| 引用本文： | 王刚,唐蓉城.机器人远中心柔顺手腕的参数优化[J].天津大学学报(自然科学与工程技术版),1994,27(2):131-135. |
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| 作者姓名： | 王刚 唐蓉城 |
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| 基金项目： | “863”自动化领域512主题办支持项目 |
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| 摘 要： | 在机器人准静态插销入孔装配作业过程和柔顺装置刚度矩阵分析基础上，提出层叠型弹性元件被动柔顺手腕的优化设计方法，此方法把优化过程分为性能参数优化和结构和参数优化两步，并使用非线混合离散变量算法，实际算例证明此法灵活有效。
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| 关 键 词： | 机器人 远中心 柔顺手腕 优化设计 |
THE OPTIMUM DESIGN FOR PARAMETERS OF ROBOTIC REMOTE CENTER COMPLIANCE |
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| Wang Gang, Tang Rongcheng, Huang Shicong Peng Shangxian, Jin Zuozhong.THE OPTIMUM DESIGN FOR PARAMETERS OF ROBOTIC REMOTE CENTER COMPLIANCE[J].Journal of Tianjin University(Science and Technology),1994,27(2):131-135. |
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| Authors: | Wang Gang Tang Rongcheng Huang Shicong Peng Shangxian Jin Zuozhong |
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| Institution: | Dept. of Mechanical Engineering |
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| Abstract: | Based upon the analysis of robotic quasi--static peg in hole process and compliance device stiffness matrix an optimum design method of laminated elastomer passive RCC is presented in this paper. The nonlinear discrete and mixed variable optimization can be divided into two phases. the performance parameter optimization and the structural parameter optimization. This method is flexible and effective in practical applications. |
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| Keywords: | robot remote center compliance (RCC) optimum design |
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